Wearable Exoskeleton Robot

Abstract

A wearable exoskeleton robot capable of achieving coordinated control between different motor modules is provided. [Solution] The system includes a hip-leg exoskeleton system 100 and a PLC integrated controller 200 for controlling the movement of the hip-leg exoskeleton system, the PLC integrated controller including a core board and a CPU, a power module, an input unit, an output unit, a communication interface and an expansion interface integrated on the core board, the CPU is responsible for acquiring and processing data for the entire integrated controller, the output unit is electrically connected to the hip-leg exoskeleton system and controls the movement of the wearable exoskeleton robot, the communication interface is used for the CPU to communicate with a remote mobile terminal, and the expansion interface is used for the CPU to communicate with an external device, and the integrated controller is used to unify control data for the wearable exoskeleton robot.

Description

[Technical field]

[0001] The present application relates to the field of exoskeleton robotics, and more particularly to wearable exoskeleton robots. [Background technology]

[0002] Wearable exoskeleton robotics originated in the early 60s of the last century and was initially used in military technology. It was born from the technology of the time, and gradually advanced rapidly into the civilian technology field. At the end of the 20th century, sensors, materials With the development of technologies such as materials and automatic control, and the emergence of various military and civilian needs, Robotics is once again entering a period of active development. Countries such as the United States, Japan and Russia are all developing exoskeletons. We are conducting a large amount of development work on robots, and we are aiming to apply the results to the military field first, so that we can Achieve useful application effects.

[0003] Domestic and overseas framework technology was launched in 2004, and generally uses motor active drive technology, With the input of research from many high schools and scientific research institutions, the PLA rocket force was the first to develop a single-soldier-assisted Assembling an exoskeleton set will greatly increase the physical strength and power of soldiers in long-distance, high-load situations. Accordingly, in recent years, the development of exoskeletons in the civilian industrial sector has led to rapid development in the domestic The company has expanded into the fields of medical care, firefighting, automobile production lines, logistics sorting and labor protection. Passive exoskeleton products in the field of protection are relatively mature in terms of technology and have a well-developed route to the general market. Active assistive exoskeleton and large industrial exoskeleton robots, the A robot can be customized to suit individual needs. It is necessary to carry out research and development of intelligent, highly automated and customized The lightweighting technical route still requires a large amount of capital and technical investment, and research and development is still required. The research and development cycle also requires a long time.

[0004] Conventional exoskeleton robot control technology mainly uses CAN communication to control modules and joint modules. The control technology for wearable exoskeleton robots depends on Still using single point control and recording control system programs in the form of data-only records. Conventional wearable exoskeleton robot modules are embedded in the ram, and the control is complex. This limits communication and makes multi-module integration control difficult.

[0005] The present embodiment provides a wearable exoskeleton robot, and is wearable using an integrated controller. Realizing unified control data, module cooperation and batch processing functions for various exoskeleton robots The different motor modules can realize synchronous differential control and reach the whole robot. The wearable exoskeleton robot module is separated and the control is complicated, and the cooperative control between the wearable exoskeleton robot and the wearable exoskeleton robot is realized. This solves the problem of communication limitations and the difficulty of integrated multi-module control.

[0006] The present embodiment provides a wearable exoskeleton robot, a hip-leg exoskeleton system, and a hip-leg exoskeleton Includes a PLC integrated controller for controlling the motion of the system;

[0007] The PLC integrated controller is a core board and a CPU and power supply module integrated on the core board. module, input unit, output unit, communication interface and expansion interface Contains;

[0008] The power supply module is arranged to power the entire wearable exoskeleton robot, i.e., the waist A leg exoskeleton system, a CPU, an input unit, an output unit, a communication interface, and It supplies power to the expansion interface, and the CPU can control the input unit, output unit, A communication interface, an expansion interface, and a storage module are electrically connected to the communication interface, the expansion interface, and the storage module. The CPU is responsible for acquiring and processing data from the entire integrated controller. The force unit is arranged to receive an external input signal, and the output unit is arranged to control the hip-leg exoskeleton system. The system is electrically connected to and communicates data with the wearable exoskeleton robot to control the movement of the wearable exoskeleton robot. and a communication interface is arranged for the CPU to communicate with a remote mobile terminal, The extension interface arranges the CPU to communicate with external devices.

[0009] In a possible implementation, the hip-leg exoskeleton system includes a hip exoskeleton module and a hip exoskeleton module. It includes two leg exoskeleton modules connected to a skeletal module;

[0010] The lumbar exoskeleton module is a lumbar mechanical unit and a hip joint installed on the lumbar mechanical unit. Includes a drive unit, hip joint sensor, and hip joint driver;

[0011] The hip joint sensor is configured to be electrically connected to the input interface of the input unit. The hip joint sensor senses the hip joint motion state of the human body and generates sensed data. The lower back sensing data is transferred to the CPU via the input unit, and the CPU A lumbar command signal is generated based on the lumbar sensing data and transmitted to an output unit. The output unit is electrically connected to the hip joint drive unit via the output interface. The output section is configured to transmit a hip command signal to the hip actuator to control the hip joint. The joint actuator is configured to be electrically connectable to the hip joint drive unit, and the hip joint The hip joint drive unit controls the movement of the hip joint drive unit in response to the waist command signal. The moving end of the drive unit is connected to the moving end of the waist mechanical unit, which controls the movement of the mechanical parts. This assists in lower back strength.

[0012] The leg exoskeleton module includes a leg mechanical unit and a leg joint installed in the leg mechanical unit. Including a drive unit, a leg joint sensor and a leg joint drive device;

[0013] The leg joint sensor is electrically connected to the input interface of the input unit. The leg joint sensor senses the moving state of the human leg joint and generates sensed data. The leg portion transmits sensing data to the CPU via the input portion, and the CPU The output section is configured to generate a command signal for the legs based on the sensing data for the legs. The output unit is electrically connected to the leg joint drive unit via the output interface. The output means is configured to drive the leg joints, and the leg sends a command signal to the leg joints. The leg joint is electrically connected to a leg joint drive unit, and the leg joint is a finger of the leg. Based on the command signal, the motion of the components of the drive unit that drive the leg joints is controlled, and the leg joint drive The moving end of the moving unit is connected to one end of the mechanical unit of the leg, so that the leg is connected to the mechanical unit of the leg. The units are linked to provide leg support.

[0014] In a possible implementation, the PLC integrated controller further includes a memory module;

[0015] A memory controller is integrated inside the CPU, and the CPU The memory module is electrically connected to the PLC integrated controller. It is arranged to be used for data storage and backup.

[0016] In a possible implementation, the LC integrated controller further includes an audio module;

[0017] The voice module includes a voice collection module and a voice recognition unit. The voice acquisition module is arranged to be electrically connected to the voice recognition unit. Collect voice control information to control the wearable exoskeleton robot and input it to the voice recognition unit. Send;

[0018] The speech recognition unit is arranged to be electrically connected to the CPU, and the speech recognition unit recognizes the voice control information and compares the stored voice control information with the collected voice control information. If they match, the voice control code corresponding to the voice control information is sent to the CPU. If not present, it is used to not transmit.

[0019] In a possible implementation, the input unit includes a button, a contact, and a The button, contacts and reeds are electrically connected to the reed switch. All of the switches are installed on the hip-leg exoskeleton system.

[0020] In a possible implementation, the output unit electrically connects the indicator lamp via the output interface. and an indicator lamp is provided on the hip-leg exoskeleton system.

[0021] In one possible implementation, the communication interface is connected to an external computer and other PL C.

[0022] The present embodiment provides a wearable exoskeleton robot that is controlled by a PLC integrated controller. The PLC integrated controller controls the movement of the hip and leg exoskeleton system. The board includes a CPU, power supply module, input unit, output unit, and communication interface. The CPU is the integrated controller's overall data The output unit is electrically connected to the hip-leg exoskeleton system and is The communication interface controls the movement of the exoskeleton robot and allows the CPU to communicate with the remote mobile terminal. The expansion interface is used for the CPU to communicate with external devices. The integration of control data for wearable exoskeleton robots using an integrated controller; Realize module cooperation and batch processing capability, realize synchronous differential control, and control the entire robot This allows for coordinated control between different motor modules. [Brief description of the drawings]

[0023] [Figure 1] FIG. 2 is a structural schematic diagram of the wearable exoskeleton robot provided by the present application;

[0024] [Diagram 2] Structure block diagram of PLC integrated controller;

[0025] [Diagram 3] Lumbar assist flow chart;

[0026] [Figure 4] 1 is a leg assist flowchart.

[0027] Explanation of Reference Numbers

[0028] 100-Hip-leg exoskeleton system;200-PLC integrated controller;

[0029] 210-CPU;220-Power supply module;230-Input unit;240-Output unit 250-Communication interface; 260-Expansion interface; 270-Memory module module;280-audio module;110-lumbar exoskeleton module;120-leg exoskeleton Module;

[0030] 111-hip mechanical unit; 112-hip drive unit; 113-hip sensor; 114 - hip joint driver; 121 - leg mechanical unit; 122 - leg joint drive unit; 123 - leg Joint sensor; 124-leg joint driver. BEST MODE FOR CARRYING OUT THEINVENTION

[0031] In order to enable those skilled in the art to better understand the technical solutions in this application, the following examples are provided. The technical solutions in the embodiments of the present application are clearly and completely described with reference to the drawings in However, it is apparent that the described embodiments are merely some of the embodiments of the present application, and not all of the embodiments. Based on the embodiments in this application, a person skilled in the art can obtain all other aspects without creative effort. All the embodiments should fall within the scope of protection of this application.

[0032] Conventional exoskeleton robot control technology mainly uses CAN communication to control modules and joint modules. The control technology for wearable exoskeleton robots depends on Still using single point control and recording control system programs in the form of data-only records. The control mode of the exoskeleton robot is single and fast for the control program. It is not possible to install and rewrite quickly, and it is also possible to create a wearable exoskeleton robot. The control module is unified, and the controller controls and executes multiple motor units. It is not possible to do so.

[0033] This application relates to a centralized control and batch processing system for wearable exoskeleton robots based on PLC centralized control technology. We will research and design the control technology for wearable exoskeleton robots using an integrated controller. Realize unified control data, module cooperation and batch processing capability. Realize synchronous differential control. ,It can reach the entire robot and realize cooperative control between different motor modules.

[0034] The specific structure of the wearable exoskeleton robot provided by the present application will be described below with reference to the drawings. will be explained in detail.

[0035] As shown in FIG. 1-2, the present embodiment provides a wearable exoskeleton robot, and A PLC integrated controller for controlling the movement of the stem 100 and the hip-leg exoskeleton system 100. Includes 200;

[0036] The PLC integrated controller 200 is lightweight, thin, and compact, has a multipath serial port, and Based on the principle design of industrial centralized control and PLC integrated control circuit, it is easy to develop secondary Android By integrating mainstream control technologies such as d, we will realize control visualization and integration of wearable exoskeletons, mainly Using PLC and industrial central control devices, and mainstream Andriod and other control processor chipsets The PLC integrated controller 200 is a core board and a C PU 210, power supply module 220, input unit 230, output unit 240, communication interface interface 250 and expansion interface 260;

[0037] The power supply module 220 is arranged to power the entire wearable exoskeleton robot, and the power supply Skeleton system 100, CPU 210, input unit 230, output unit 240, communication interface The power supply module supplies power to the AC It is composed of a DC conversion circuit, a main control power supply circuit, and a power supply filter circuit, and is a PLC integrated controller. It can provide a stable 3.3V power supply for the laser;

[0038] The CPU 210 communicates with an input unit 230, an output unit 240, and a communication interface 250 via a bus. The expansion interface 260 and the storage module 270 are electrically connected to the The CPU 210 is responsible for acquiring and processing data for the entire integrated controller. Applicable;

[0039] The input unit 230 includes a plurality of input interfaces. By fitting the cable to the device, it is electrically connected and can also receive external input signals. The output unit 240 has a plurality of output ports and is connected to an output interface and an external component. and the output unit 240, which is electrically connected to the output unit 240 via a cable, the waist system 100 is Electrical and data communication for exoskeleton is controlled by PLC. and communicating with a remote mobile terminal for the interface 250, 210 to provide a remote control and communicates with external devices to operate the expansion interfaces 260 and 210. Mobile communication data such as GSM, WCDMA, TD-SCDMA, CDMA2000, and LTE and can support simultaneous transmission of 100 / 1000MWLAN data, It is connected to different types of functional components via interfaces and is controlled by a PLC controller. Interacting with the extended functional elements connected to the interface to create a multifunctional control system It is easy to install, has rich functions and is low cost.

[0040] Using a unified controller to unify control data for wearable exoskeleton robots The module cooperation and batch processing capability realizes synchronous differential control and reaches the entire robot. It is possible to realize cooperative control between different motor modules, which is much faster than conventional exoskeleton robots. The control mode is single, and the control program can be quickly installed and rewritten. It is not possible to control and execute multiple motion units by using a controller. This solves the problem of not being able to

[0041] The present embodiment provides a wearable exoskeleton robot, which includes a PLC integrated controller 20. 0 controls the movement of the hip-leg exoskeleton system 100, and the PLC integrated controller 200 The core board and the CPU 210, the power supply module 220, the input unit 210, and the like integrated on the core board are 230, an output unit 240, a communication interface 250 and an expansion interface The controller 260 and CPU 210 are responsible for acquiring and processing data from the entire integrated controller. The output unit 240 is electrically connected to the hip-leg exoskeleton system 100 and is configured to generate a wearable exoskeleton. The communication interface 250 controls the movement of the robot and allows the CPU 210 to communicate with a remote mobile terminal. The expansion interface 260 is used to allow the CPU 210 to communicate with external devices. It is used to control the wearable exoskeleton robot using an integrated controller. It realizes unified control data, module cooperation and batch processing function, and realizes synchronous differential control. It is possible to achieve the whole robot and realize the coordinated control between different motor modules.

[0042] As shown in FIGS. 1, 3, and 4, in some embodiments, a hip-leg exoskeleton system 10 0 is the waist exoskeleton module 110 and the two legs connected to the waist exoskeleton module 110 The exoskeleton module 120 includes a lower back exoskeleton module 110 and two leg exoskeleton modules. Joule 120 is compatible with the human anatomy;

[0043] The waist exoskeleton module 110 is provided in the waist mechanical unit 111 and The hip joint drive unit 112, the hip joint sensor 113, and the hip joint driver 114 are placed ;

[0044] The flowchart of the lower back assist shown in FIG. An input interface, a CPU 210, an output interface of the output unit 240, The joint driver 114 and the hip joint drive unit 112 are electrically connected in turn;

[0045] The hip joint sensor 113 may be a motion sensor, and the hip joint sensor 113 may be a human hip joint motion sensor. A waist sensing data input unit 23 that senses the movement state, generates sensed data, and Based on the waist sensing data to be transmitted to the CPU 210 via the and configured to generate a lumbar command signal based on the input signal and transmit it to the output unit 240, e.g. For example, if the hip joint sensor 113 detects a bending motion of the wearer's waist, the The CPU (210) records the sensing data of the "bending" waist. After acquiring the data, the motor command signals of the exoskeleton are generated to correspond to the movements of the human body, i.e. That is, it is a command signal to "bend the skeleton." The hip joint sensor 113 detects the waist of the human body. The command signal generated by the CPU 210 is for the exoskeleton to move in the same direction. Therefore, the CPU 210 controls the movement of the hips based on the waist sensing data. The calculation process is not complicated, and most system software is Any of these can be realized and are well known to those skilled in the art. The actual system software is not described here;

[0046] The output unit 240, the hip joint driver 114 and the hip joint drive unit 112 are connected to the hip joint command signal The hip joint driver 114 is a normal driver, and the hip joint drive unit The knit 112 may be a motorized push rod, pull rope motion mechanism, or the like, and may be hip-actuated. The unit 112 drives the waist mechanical unit 111 to move, and controls the movement method of the waist exoskeleton. The direction of the movement of the user's waist is detected by the sensor, and the direction of the movement of the user's waist is detected by the sensor. Perform lumbar support;

[0047] The leg exoskeleton module 120 is installed in the leg mechanical unit 121 and a leg joint drive unit 122, a leg joint sensor 123 and a leg joint driver 124;

[0048] The leg assist flow chart shown in FIG. 4 is a flow chart of the leg joint sensor 123 and the input unit 230. Input interface, CPU 210, output interface of output unit 240, legs The joint driver 124 and the leg joint drive unit 122 are electrically connected in turn;

[0049] The leg joint sensor 123 is used to detect the motion state of the leg joint of the human body, and outputs leg detection data. and inputs the leg detection data to the CPU 210 via the input unit 230. to generate a leg command signal based on the leg detection data, and then transmit it to the output unit 240. The output unit 240 is arranged to transmit a leg command signal to the leg joint driver 124. The leg joint driver 124 controls the movement of the leg joint drive unit 122 based on the leg command signal. The moving end of the leg joint drive unit 122 is connected to the moving end of the leg mechanical unit 121. This drives the movement of the leg mechanical unit 121 to perform leg assistance and changes the movement direction of the leg exoskeleton. The direction of the user's leg movement is detected by the sensor, and the user is provided with leg assistance. cormorant.

[0050] The current exoskeleton robot control method is a simple remote control motor, which can be controlled by the work scene and voltage It is not possible to judge the movement intention of the human lower limbs according to the work needs of the level, and the moment of The power output, power stop, and attitude maintenance status of the vehicle are actively controlled, and the control method is too mechanized. do.

[0051] As shown in FIG. 2, in some embodiments, the PLC integrated controller 200 further includes: Including a memory module 270, which may be a ddr2 memory;

[0052] A memory controller is integrated inside the CPU 210. The memory module 270 is electrically connected to the PLC cluster via the It is arranged to be used for storing and backing up data of the integration controller.

[0053] In some embodiments, the LC integrated controller 200 further includes an audio module 280. , the voice module 280 includes a voice collection module and a voice recognition unit;

[0054] The voice collection module is arranged to be electrically connected to the voice recognition unit, and The module collects voice control information to control the wearable exoskeleton robot and performs voice recognition. send it to the identification unit;

[0055] The speech recognition unit is arranged to be electrically connected to the CPU 210. The speech control information is recognized, and the stored speech control information is compared with the collected speech control information. If they match, the CPU 210 reads the speech control code corresponding to the speech control information. 210 to generate a corresponding waist command signal or leg command signal based on the speech control code. and thus controlling the movement of the exoskeleton;

[0056] If it doesn't match, it doesn't send.

[0057] Currently, there are some inconveniences when using remote control or manual button control. Possible exoskeleton robots can realize voice control, sensor control, or voice + sensor driven control. This allows for more reliable and convenient control of the exoskeleton robot.

[0058] Conventional wearable exoskeletal devices currently do not have sensors attached, and this application does not include a hip joint sensor. The wearable exoskeleton is a wearable robot that can sense the movement state of the human body using the sensor and leg joint sensor. It controls a robot to assist in work and combines work situation sensors to assist humans in different work situations. Collects situation data such as body posture, direction, angle, etc. and feeds it back to the PLC integrated controller. The PLC integrated controller generates the corresponding control commands to control the movement of the exoskeleton robot. Control.

[0059] The present application utilizes a sensor element to guide the motion of a drive device and to measure the sum of the force of the human body and the drive of the device. The force effect is realized, and the device is damaged by the simple device drive alone, or they interfere with each other and cooperate. This avoids the problem.

[0060] As shown in FIG. 2, in some embodiments, the input unit includes multiple input interfaces. The terminals are arranged so as to be electrically connected to the buttons, contacts, and limit switches through the respective terminals. The buttons, contacts and limit switches are all installed in the hip-leg exoskeleton system 100. will be done.

[0061] In some embodiments, the output unit outputs the input signal via a plurality of output interfaces. The indicator light, solenoid valve, and solenoid coil are electrically connected to the Each of them is arranged on the waist-leg exoskeleton system 100 as shown. It is possible.

[0062] In some embodiments, the communication interface is a PLC integrated controller 200 and an external It can be used to integrate PLC control between external computer or other PLC system. It allows data transmission between the controller and an external computer or other PLC system.

[0063] This application is related to the safety requirements for electrostatic charging work in dangerous environments such as maintenance and management of high-voltage power grids and work patrol inspections. Armor-style wearable safety protection based on kinesiology and bionics principles and researching a portable wearable exoskeleton robot task set device.

[0064] After free conversion, the number of working scenes can be more than 10, and the transmission Covering inspection tasks Pole climbing, tower climbing, tree pruning at height , Removal of foreign objects on the line, Adjustment of fixed values ​​for pole-mounted vacuum circuit breakers, Disconnection during earth potential work, Lead wire connection Continued, cross arm replacement, cleaning and replacement of insulators, reverse switch during electrification inspection work at substation Switch operation, inspection of open / close switches, replacement of low voltage switches, anti-vibration hammer for equal potential work These are 12 typical work scenes, such as replacing the lead wires, repairing the lead wires, etc. It is difficult to realize alternative work by robots in dangerous environments where the safety distance is insufficient. Solve the problem.

[0065] Those skilled in the art can easily understand the embodiments of the present application based on some embodiments provided by the present application. Other embodiments may be obtained by combining, dividing, and rearranging the It is easily understood that any of these embodiments does not depart from the scope of protection of this application.

[0066] The above specific embodiments further demonstrate the objectives, technical solutions and beneficial effects of the present invention. It should be noted in detail and understood that the above is merely a specific embodiment of the present invention. It does not limit the scope of protection of the embodiments, but based on the technical solutions of the embodiments of the present application, Any modifications, equivalent replacements, improvements, etc., made in the present invention should be included within the scope of protection of the present embodiment. It is.

Claims

1. A wearable exoskeleton robot, A hip-leg exoskeleton system (100) and a device for controlling the movement of the hip-leg exoskeleton system (100) A PLC integrated controller (200) for The PLC integrated controller (200) is a core board and a CPU ( 210), power supply module (220), input unit (230), output unit (240 ), a communication interface (250) and an expansion interface (260); a power module (220) arranged to power the entire wearable exoskeleton robot; A hip and leg exoskeleton system (100), a CPU (210), an input unit (230), an output unit A communication interface (250), and an expansion interface (260) ) and The CPU (210) is connected to an input unit (230), an output unit (240), and Communication interface (250), expansion interface (260) and storage module (270), and the CPU (210) is an integrated controller Collect and process the entire data, The input unit (230) is arranged to receive an external input signal, and the output unit (24 0) is electrically connected and data communicated with the hip and leg exoskeleton system (100), and the wearable exoskeleton The communication interface (250) is arranged to control the movement of a human robot. (210) is arranged to communicate with a remote mobile terminal, and an expansion interface (260) The CPU (210) is arranged to communicate with an external device; Wearable exoskeleton robot.

2. 2. The wearable exoskeleton robot according to claim 1, wherein the hip-leg exoskeleton system (100) A lumbar exoskeleton module (110) and two lumbar exoskeleton modules (110) connected to the lumbar exoskeleton module (110) The exoskeleton module (110) is a lumbar exoskeleton module. A hip joint drive unit installed on the hip mechanical unit (111) The hip joint sensor includes a hip joint driver (114), a hip joint sensor (113), and a hip joint driver (114). The input unit (113) is electrically connected to the input interface of the input unit (230). The hip joint sensor (113) detects the hip joint movement state of the human body, and the waist sensing device The data is generated, and the lower back sensing data is input to the CPU (230) via the input unit (230). 10), and the CPU (210) transmits the waist sensing data to the waist sensor. The output unit is arranged to generate and transmit a command signal to the output unit (240). The hip joint driver (114) is electrically connected to the hip joint driver (114) via the output interface. The output unit (240) is arranged to be connected to the hip joint driver (114), The hip command signal is sent to the hip driver (114), which then supplies power to the hip drive unit (112). The hip joint driver (114) is arranged to be electrically connected to the hip joint based on the lower back command signal. The hip joint drive unit (112) is controlled to move. The moving end is connected to the moving end of the waist machine unit (111), thereby The exoskeleton module (120) drives the motion of the leg exoskeleton module (111) to provide lumbar support. A mechanical unit (121) and a leg joint drive unit (121) installed on the leg mechanical unit (121) a leg joint sensor (123) and a leg joint actuator (124); The leg joint sensor (123) is electrically connected to the input interface of the input unit (230). The leg joint sensor (123) detects the movable state of the leg joint of the human body. The leg part transmits the sensing data to the input part ( The signal is transferred to the CPU (210) via the sensor 230, and the CPU (210) The leg command signal is generated based on the leg data and transmitted to an output unit (240). The output unit (240) and the leg joint actuator (12) are connected to each other via the output interface. 4), an output section (240) and a leg joint actuator. (124) sends a command signal to the leg to control the leg joint of the leg joint actuator (124). The legs are configured to be electrically connected to a drive unit (122) that drives the drive unit, and the legs are configured to receive a command signal Based on the result, the movement of the drive unit (122) that drives the leg joint is controlled, and the leg joint actuator The moving ends of the actuator (124) and the drive unit (122) that drives the leg joints are mechanically connected to the connected to one end of the unit (121); Wearable exoskeleton robot.

3. 2. The wearable exoskeleton robot of claim 1, further comprising a PLC integrated controller (200 The CPU (210) further includes a memory module (270), and a memory controller (270) is provided inside the CPU (210). The CPU (210) controls the memory module ( 270), and the memory module (270) stores the data of the PLC integrated controller. be used for data storage and backup, Wearable exoskeleton robot.

4. 2. The wearable exoskeleton robot of claim 1, further comprising a PLC integrated controller (200 The audio module (280) further includes an audio collection module (280). a voice acquisition module and a voice recognition unit, the voice acquisition module being electrically connected to the voice recognition unit; The voice collection module is arranged to control the wearable exoskeleton robot. The voice control information is collected and sent to the voice recognition unit, and the voice recognition unit U (210), and the voice recognition unit receives voice control information The recognized and stored voice control information is compared with the collected voice control information, and if there is a match, The voice control code corresponding to the voice control information is sent to the CPU (210). For example, it is used to not send Wearable exoskeleton robot.

5. 2. The wearable exoskeleton robot according to claim 1, wherein the input unit is an input interface. The button is electrically connected to the contacts and the reed switch through the contacts. The contacts, the reed switches and the like are all installed in the hip-leg exoskeleton system (100). R, Wearable exoskeleton robot.

6. 2. The wearable exoskeleton robot of claim 1, wherein the output unit is an output interface. The indicator lamp is electrically connected to the hip and leg bones via the base. Installed in the system (100), Wearable exoskeleton robot.

7. 2. The wearable exoskeleton robot according to claim 1, wherein the communication interface is an external computer. and arranged to be electrically connected to the computer and other PLCs. Wearable exoskeleton robot.

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